CN109398336B - Man-machine driving-based general braking system and braking method for automatic driving vehicle - Google Patents
Man-machine driving-based general braking system and braking method for automatic driving vehicle Download PDFInfo
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- CN109398336B CN109398336B CN201811218789.2A CN201811218789A CN109398336B CN 109398336 B CN109398336 B CN 109398336B CN 201811218789 A CN201811218789 A CN 201811218789A CN 109398336 B CN109398336 B CN 109398336B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/581—Combined or convertible systems both hydraulic and pneumatic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Braking Systems And Boosters (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention relates to a man-machine driving-based general braking system and a man-machine driving-based general braking method for an automatic driving vehicle, which comprise a control system module, a brake control module and a brake control module, wherein the control system module is used for controlling the on-off of a system gas circuit and a hydraulic oil circuit, so that the working states of a manual driving system, an automatic driving brake system and an automatic driving idle system are realized; the mechanical hydraulic braking module enables a driver to perform conventional braking operation when the vehicle is in a manned state; the gas-liquid coupling line control brake module is connected with the mechanical hydraulic brake module in parallel and is used for quickly responding a line control brake signal; the vehicle bottom layer brake execution module controls the vehicle to realize braking under the driving of the pressure of the hydraulic oil circuit; the invention adopts a modular design, only needs to connect the gas-liquid coupling line control brake module and the original vehicle brake module in parallel, has good universality, is suitable for the brake systems of all automatic driving vehicles, and has simple structure and convenient installation.
Description
Technical Field
The invention relates to a man-machine driving-based general braking system and a man-machine driving-based general braking method for an automatic driving vehicle, and belongs to the field of chassis line control of automatic driving vehicles.
Background
At present, the relevant research and commercialization of the automatic driving vehicle technology are steadily advancing, the task can be completed more effectively than the human driver on most suitable occasions, the performance advantages of more reliability, safety and high efficiency of the automatic driving technology can be brought into play, the probability of accidents is reduced as much as possible, and the defect that the human driver operates the vehicle is overcome; the automatic driving technology based on man-machine driving can meet the original pursuit of people on driving pleasure, and the active safety performance and the efficiency level of the vehicle are obviously improved.
The general braking system is one of key technologies of an automatic driving vehicle, and as the automatic driving vehicle is added with a plurality of additional sensors, actuators, control units and the like compared with the traditional vehicle, the stability of the system is difficult to ensure; therefore, the design of a chassis brake-by-wire system considering redundancy and system downtime is very important, and a high-adaptability and high-reliability brake system and a control method which can meet manual driving, auxiliary driving and fully automatic driving are urgently needed. The man-machine driving-based automatic driving general braking system has the potential of improving driving safety and system stability.
Disclosure of Invention
The invention provides a man-machine driving-based universal brake system and a brake method for an automatic driving vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a man-machine driving-based general braking system for an automatic driving vehicle comprises a control system module, a brake control module and a brake control module, wherein the control system module is used for controlling the on-off of a system gas circuit and a hydraulic oil circuit, so that the working states of a manual driving system, an automatic driving brake system and an automatic driving idle system are realized;
the mechanical hydraulic braking module enables a driver to perform conventional braking operation when the vehicle is in a manned state;
the gas-liquid coupling line control brake module is connected with the mechanical hydraulic brake module in parallel and is used for quickly responding a line control brake signal;
the vehicle bottom layer brake execution module controls the vehicle to realize braking under the driving of the pressure of the hydraulic oil circuit;
as a further preferred aspect of the present invention, the control system module includes a micro control module, a first relay, a second relay, a third relay, a normally open solenoid valve, a first normally closed solenoid valve, a second normally closed solenoid valve, a position sensor, and a low-voltage dc power supply module; the mechanical hydraulic brake module comprises a first balance rod, a second balance rod, a first front main cylinder, a first rear main cylinder and a first oil pot; the gas-liquid coupling line control brake module comprises a high-pressure gas cylinder, a second front main cylinder, a second rear main cylinder and a second oil can;
the micro control module is respectively communicated with a first relay, a second relay, a third relay and a position sensor through leads, the first relay is simultaneously communicated with a normally open electromagnetic valve and a low-voltage direct-current power supply module through leads, the second relay is communicated with a first normally closed electromagnetic valve through leads, the third relay is communicated with a second normally closed electromagnetic valve through leads, and the low-voltage direct-current power supply module is simultaneously communicated with the first normally closed electromagnetic valve and the second normally closed electromagnetic valve through leads;
four valve ports of the first four-way valve are respectively communicated with a right rear wheel, a left rear wheel, a first rear main cylinder and a second rear main cylinder through oil pipes, four valve ports of the second four-way valve are respectively communicated with a right front wheel, a left front wheel, a first front main cylinder and a second front main cylinder through oil pipes, a second normally closed electromagnetic valve is respectively communicated with the first rear main cylinder, the first front main cylinder and a second oil pot through oil pipes, and the first normally closed electromagnetic valve is respectively communicated with the second rear main cylinder, the second front main cylinder and the first oil pot through oil pipes;
the first rear main cylinder and the first front main cylinder are fixedly connected with the first balance rod at the same time, the second rear main cylinder and the second front main cylinder are fixedly connected with the second balance rod at the same time, the second balance rod is fixedly connected with the air cylinder at the same time, and the air cylinder is communicated with the normally open electromagnetic valve through an air path pipeline;
the micro control module is communicated with the position sensor through a lead;
as a further preferable mode of the invention, in the normally open electromagnetic valve, the on-off state of the air flow provided by the high-pressure air bottle when the air flow flows to the air cylinder in the air-liquid coupling brake-by-wire module is controlled; in the first normally closed solenoid valve, hydraulic oil provided by a second oil can flows to a second rear main cylinder and a second front main cylinder to be switched on and off in the gas-liquid coupling line control brake module; in the second normally-closed solenoid valve controlled mechanical hydraulic brake module, the hydraulic oil provided by the first oil can flows to the first rear main cylinder and the first front main cylinder to be switched on and off.
A braking method of a general braking system of an automatic driving vehicle based on man-machine driving comprises the following steps of checking a position sensor arranged on a brake pedal to detect the vehicle, judging whether the vehicle is in a braking state under a manual driving state, feeding state information back to a micro control module, performing logic judgment by the micro control module,
if the initial state is the automatic driving state, a driver steps on a brake pedal, the vehicle enters the manual driving state, if the initial state is the manual driving state, the driver activates an automatic driving button, the vehicle enters the automatic driving state, and if the driver activates an auxiliary driving button, the vehicle enters the man-machine co-driving state;
as a further preferred aspect of the present invention,
when a driven vehicle is in a manual driving state, the first relay is closed, so that the normally open electromagnetic valve is closed, and the gas-liquid coupling line-control brake module is in a closed state; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; and the third relay is closed, so that the second normally closed electromagnetic valve is opened, and the mechanical hydraulic brake module works normally.
When a driving vehicle is in an automatic driving-braking state, the first relay is opened so as to open the normally open electromagnetic valve, and the second relay is closed so as to open the first normally closed electromagnetic valve and ensure that the gas-liquid coupling line-control braking module works normally; the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the system is prevented from returning oil to the second oil can;
when a driven vehicle is in an automatic driving-idle state, the first relay is closed, so that the normally open electromagnetic valve is closed, the second relay is closed, so that the first normally closed electromagnetic valve is opened, and the gas-liquid coupling line-control brake module is in a normal-pressure non-brake state; and the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the first oil pot of the mechanical hydraulic brake module is in a blocking state.
When a driven vehicle is in a man-machine driving state, the first relay and the normally open electromagnetic valve are opened or closed according to user requirements, and the gas-liquid coupling line control brake module provides brake pressure compensation for the mechanical hydraulic brake module; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; the third relay is opened, so that the second normally closed electromagnetic valve is closed, the first oil pot of the mechanical hydraulic braking module is in a blocking state, and the system is prevented from returning oil to the first oil pot.
When a driving vehicle is in a system downtime or unexpected power failure state, the first relay is opened so as to open the normally open electromagnetic valve, the second relay is opened so as to close the first normally closed electromagnetic valve, the second oil pot of the gas-liquid coupling line-control brake module is in a blocking state, and the system is in a negative bias pressure state; the third relay is opened, so that the second normally closed electromagnetic valve is closed, the first oil pot of the mechanical hydraulic braking module is in a blocking state, and the system is prevented from returning oil to the first oil pot.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
the invention can realize the redundant brake-by-wire control of the automatic driving vehicle on the premise of keeping the original traditional mechanical brake module, can ensure the seamless switching between manned driving and automatic driving, adopts the gas-liquid coupled brake-by-wire to greatly improve the response speed of the system, and simultaneously realizes the automatic emergency braking under the condition of system shutdown or power failure, thereby providing safe reliability;
the invention adopts a modular design, only needs to connect the gas-liquid coupling line control brake module and the original vehicle brake module in parallel, has good universality, is suitable for the brake systems of all automatic driving vehicles, and has simple structure and convenient installation.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of a specific implementation structure of the preferred embodiment of the invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, the man-machine driving-based general braking system for an automatic driving vehicle of the invention comprises a control system module, a brake control module and a brake control module, wherein the control system module is used for controlling the on-off of a system gas circuit and a hydraulic oil circuit, so as to realize the working states of a manual driving system, an automatic driving brake system and an automatic driving idle system;
the mechanical hydraulic braking module enables a driver to perform conventional braking operation when the vehicle is in a manned state;
the gas-liquid coupling line control brake module is connected with the mechanical hydraulic brake module in parallel and is used for quickly responding a line control brake signal;
the vehicle bottom layer brake execution module comprises calipers, a brake disc and the like, is contained in the left front wheel, the right front wheel, the left rear wheel and the right rear wheel, and controls the vehicle to realize braking under the driving of the pressure of a hydraulic oil circuit;
as shown in fig. 2, as a further preferred embodiment of the present invention, the control system module includes a micro control module, a first relay, a second relay, a third relay, a normally open solenoid valve, a first normally closed solenoid valve, a second normally closed solenoid valve, a position sensor, and a low voltage dc power supply module; the mechanical hydraulic brake module comprises a first balance rod, a second balance rod, a first front main cylinder, a first rear main cylinder and a first oil pot; the gas-liquid coupling line control brake module comprises a high-pressure gas cylinder, a second front main cylinder, a second rear main cylinder and a second oil can; the micro control module is a micro controller;
the micro control module is respectively communicated with a first relay, a second relay, a third relay and a position sensor through leads, the first relay is simultaneously communicated with a normally open electromagnetic valve and a low-voltage direct-current power supply module through leads, the second relay is communicated with a first normally closed electromagnetic valve through leads, the third relay is communicated with a second normally closed electromagnetic valve through leads, and the low-voltage direct-current power supply module is simultaneously communicated with the first normally closed electromagnetic valve and the second normally closed electromagnetic valve through leads;
four valve ports of the first four-way valve are respectively communicated with a right rear wheel, a left rear wheel, a first rear main cylinder and a second rear main cylinder through oil pipes, four valve ports of the second four-way valve are respectively communicated with a right front wheel, a left front wheel, a first front main cylinder and a second front main cylinder through oil pipes, a second normally closed electromagnetic valve is respectively communicated with the first rear main cylinder, the first front main cylinder and a second oil pot through oil pipes, and the first normally closed electromagnetic valve is respectively communicated with the second rear main cylinder, the second front main cylinder and the first oil pot through oil pipes;
the first rear main cylinder and the first front main cylinder are fixedly connected with the first balance rod at the same time, the second rear main cylinder and the second front main cylinder are fixedly connected with the second balance rod at the same time, the second balance rod is fixedly connected with the air cylinder at the same time, and the air cylinder is communicated with the normally open electromagnetic valve through an air path pipeline;
the micro control module is communicated with the position sensor through a lead;
as a further preferable mode of the invention, in the normally open electromagnetic valve, the on-off state of the air flow provided by the high-pressure air bottle when the air flow flows to the air cylinder in the air-liquid coupling brake-by-wire module is controlled; in the first normally closed solenoid valve, hydraulic oil provided by a second oil can flows to a second rear main cylinder and a second front main cylinder to be switched on and off in the gas-liquid coupling line control brake module; in the second normally-closed solenoid valve controlled mechanical hydraulic brake module, the hydraulic oil provided by the first oil can flows to the first rear main cylinder and the first front main cylinder to be switched on and off.
A braking method of a general braking system of an automatic driving vehicle based on man-machine driving comprises the following steps of checking a position sensor arranged on a brake pedal to detect the vehicle, judging whether the vehicle is in a braking state under a manual driving state, feeding state information back to a micro control module, performing logic judgment by the micro control module,
if the initial state is the automatic driving state, a driver steps on a brake pedal, the vehicle enters the manual driving state, if the initial state is the manual driving state, the driver activates an automatic driving button, the vehicle enters the automatic driving state, and if the driver activates an auxiliary driving button, the vehicle enters the man-machine co-driving state;
as a further preferred aspect of the present invention,
when a driven vehicle is in a manual driving state, the first relay is closed, so that the normally open electromagnetic valve is closed, and the gas-liquid coupling line-control brake module is in a closed state; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; and the third relay is closed, so that the second normally closed electromagnetic valve is opened, and the mechanical hydraulic brake module works normally.
When a driving vehicle is in an automatic driving-braking state, the first relay is opened so as to open the normally open electromagnetic valve, and the second relay is closed so as to open the first normally closed electromagnetic valve and ensure that the gas-liquid coupling line-control braking module works normally; the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the system is prevented from returning oil to the second oil can;
when a driven vehicle is in an automatic driving-idle state, the first relay is closed, so that the normally open electromagnetic valve is closed, the second relay is closed, so that the first normally closed electromagnetic valve is opened, and the gas-liquid coupling line-control brake module is in a normal-pressure non-brake state; and the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the first oil pot of the mechanical hydraulic brake module is in a blocking state.
When a driven vehicle is in a man-machine driving state, the first relay and the normally open electromagnetic valve are opened or closed according to user requirements, and the gas-liquid coupling line control brake module provides brake pressure compensation for the mechanical hydraulic brake module; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; the third relay is opened, so that the second normally closed electromagnetic valve is closed, the first oil pot of the mechanical hydraulic braking module is in a blocking state, and the system is prevented from returning oil to the first oil pot.
When a driving vehicle is in a system downtime or unexpected power failure state, the first relay is opened so as to open the normally open electromagnetic valve, the second relay is opened so as to close the first normally closed electromagnetic valve, the second oil pot of the gas-liquid coupling line-control brake module is in a blocking state, and the system is in a negative bias pressure state; the third relay is opened, so that the second normally closed electromagnetic valve is closed, the first oil pot of the mechanical hydraulic braking module is in a blocking state, and the system is prevented from returning oil to the first oil pot.
Summarizing the working state of the system and the logic of the control elements of the corresponding air circuit and oil circuit, and the following table is provided:
it will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (3)
1. The utility model provides a general braking system of autopilot vehicle based on man-machine drives altogether which characterized in that: the system comprises a control system module, a control system module and a control module, wherein the control system module is used for controlling the on-off of a system gas circuit and a hydraulic oil circuit so as to realize the idle system working states of manual driving, automatic driving braking and automatic driving;
the mechanical hydraulic braking module enables a driver to perform conventional braking operation when the vehicle is in a manned state;
the gas-liquid coupling line control brake module is connected with the mechanical hydraulic brake module in parallel and is used for quickly responding a line control brake signal;
the vehicle bottom layer brake execution module controls the vehicle to realize braking under the driving of the pressure of the hydraulic oil circuit;
the control system module comprises a micro control module, a first relay, a second relay, a third relay, a normally open electromagnetic valve, a first normally closed electromagnetic valve, a second normally closed electromagnetic valve, a position sensor and a low-voltage direct-current power supply module; the mechanical hydraulic brake module comprises a first balance rod, a second balance rod, a first front main cylinder, a first rear main cylinder and a first oil pot; the gas-liquid coupling line control brake module comprises a high-pressure gas cylinder, a second front main cylinder, a second rear main cylinder and a second oil can;
the micro control module is respectively communicated with a first relay, a second relay, a third relay and a position sensor through leads, the first relay is simultaneously communicated with a normally open electromagnetic valve and a low-voltage direct-current power supply module through leads, the second relay is communicated with a first normally closed electromagnetic valve through leads, the third relay is communicated with a second normally closed electromagnetic valve through leads, and the low-voltage direct-current power supply module is simultaneously communicated with the first normally closed electromagnetic valve and the second normally closed electromagnetic valve through leads;
four valve ports of the first four-way valve are respectively communicated with a right rear wheel, a left rear wheel, a first rear main cylinder and a second rear main cylinder through oil pipes, four valve ports of the second four-way valve are respectively communicated with a right front wheel, a left front wheel, a first front main cylinder and a second front main cylinder through oil pipes, a second normally closed electromagnetic valve is respectively communicated with the first rear main cylinder, the first front main cylinder and a second oil pot through oil pipes, and the first normally closed electromagnetic valve is respectively communicated with the second rear main cylinder, the second front main cylinder and the first oil pot through oil pipes;
the first rear main cylinder and the first front main cylinder are fixedly connected with the first balance rod at the same time, the second rear main cylinder and the second front main cylinder are fixedly connected with the second balance rod at the same time, the second balance rod is fixedly connected with the air cylinder at the same time, and the air cylinder is communicated with the normally open electromagnetic valve through an air path pipeline;
the micro control module is communicated with the position sensor through a lead.
2. The ergonomic co-drive based autonomous vehicle universal brake system of claim 1, wherein: in the normally open solenoid valve, the on-off state of the air flow provided by the high-pressure air bottle when the air flow flows to the air cylinder in the gas-liquid coupling brake-by-wire module is controlled;
in the first normally closed solenoid valve, hydraulic oil provided by a second oil can flows to a second rear main cylinder and a second front main cylinder to be switched on and off in the gas-liquid coupling line control brake module; in the second normally-closed solenoid valve controlled mechanical hydraulic brake module, the hydraulic oil provided by the first oil can flows to the first rear main cylinder and the first front main cylinder to be switched on and off.
3. A braking method of a general braking system of an automatic driving vehicle based on man-machine driving is characterized in that: the method comprises the following steps of detecting a vehicle by checking a position sensor arranged on a brake pedal, judging whether the vehicle is in a braking state under a manual driving state or not, feeding state information back to a micro control module, carrying out logic judgment by the micro control module, if the initial state is an automatic driving state, stepping the brake pedal by a driver, enabling the vehicle to enter the manual driving state, if the initial state is the manual driving state, activating an automatic driving button by the driver, enabling the vehicle to enter the automatic driving state, and if the driver activates an auxiliary driving button, enabling the vehicle to enter a man-machine driving state;
when a driven vehicle is in a manual driving state, the first relay is closed, so that the normally open electromagnetic valve is closed, and the gas-liquid coupling line-control brake module is in a closed state; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; the third relay is closed, so that the second normally closed electromagnetic valve is opened, and the mechanical hydraulic brake module works normally;
when a driving vehicle is in an automatic driving-braking state, the first relay is opened so as to open the normally open electromagnetic valve, and the second relay is closed so as to open the first normally closed electromagnetic valve and ensure that the gas-liquid coupling line-control braking module works normally; the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the system is prevented from returning oil to the second oil can;
when a driven vehicle is in an automatic driving-idle state, the first relay is closed, so that the normally open electromagnetic valve is closed, the second relay is closed, so that the first normally closed electromagnetic valve is opened, and the gas-liquid coupling line-control brake module is in a normal-pressure non-brake state; the third relay is opened, so that the second normally closed electromagnetic valve is closed, and the first oil pot of the mechanical hydraulic brake module is in a blocking state;
when a driven vehicle is in a man-machine driving state, the first relay and the normally open electromagnetic valve are opened or closed according to user requirements, and the gas-liquid coupling line control brake module provides brake pressure compensation for the mechanical hydraulic brake module; the second relay is opened, so that the first normally closed electromagnetic valve is closed, and a second oil pot of the gas-liquid coupling line control brake module is in a blocking state, so that the system is prevented from returning oil to the second oil pot; the third relay is opened, so that the second normally closed electromagnetic valve is closed, and a first oil pot of the mechanical hydraulic brake module is in a blocking state, so that oil return of the system to the first oil pot is prevented;
when a driving vehicle is in a system downtime or unexpected power failure state, the first relay is opened so as to open the normally open electromagnetic valve, the second relay is opened so as to close the first normally closed electromagnetic valve, the second oil pot of the gas-liquid coupling line-control brake module is in a blocking state, and the system is in a negative bias pressure state; the third relay is opened, so that the second normally closed electromagnetic valve is closed, the first oil pot of the mechanical hydraulic braking module is in a blocking state, and the system is prevented from returning oil to the first oil pot.
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| CN114030448B (en) * | 2021-10-27 | 2022-08-05 | 武汉未来幻影科技有限公司 | Vehicle and control system, method and device |
| CN113734114B (en) * | 2021-11-03 | 2022-09-02 | 杭州夏树科技有限公司 | Auxiliary emergency braking device for electric automobile |
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| CN105739491A (en) * | 2016-02-04 | 2016-07-06 | 北京联合大学 | Electric intelligent vehicle dual-driving dual-control system based on braking intervention and control method |
| CN108297877A (en) * | 2017-10-10 | 2018-07-20 | 腾讯科技（深圳）有限公司 | Control method for vehicle, system and device |
| DE202018001859U1 (en) * | 2018-04-12 | 2018-04-24 | Wabco Gmbh | Braking system of a towing vehicle |
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